10 papers
Differentiable Mesh State Estimation via Factor Graph Inference for Deformable Object Reconstruction
Lidia Al-Zogbi, Fangjie Li, Samuel Tobin +13
Estimating deformable object states remains a fundamental challenge in robotics and simulation. We propose a novel factor graph-based framework for probabilistic mesh state estimat…
SlicerROS2: A Research and Development Module for Image-Guided Robotic Interventions
Laura Connolly, Aravind S. Kumar, Kapi Ketan Mehta +9
Image-guided robotic interventions involve the use of medical imaging in tandem with robotics. SlicerROS2 is a software module that combines 3D Slicer and robot operating system (R…
PERSEUS: Perception with Semantic Endoscopic Understanding and SLAM
Ayberk Acar, Fangjie Li, Susheela Sharma Stern +9
Purpose: Natural orifice surgeries minimize the need for incisions and reduce the recovery time compared to open surgery; however, they require a higher level of expertise due to v…
AURA-CVC: Autonomous Ultrasound-guided Robotic Assistance for Central Venous Catheterization
Deepak Raina, Lidia Al-Zogbi, Brian Teixeira +6
Purpose: Central venous catheterization (CVC) is a critical medical procedure for vascular access, hemodynamic monitoring, and life-saving interventions. Its success remains challe…
From Monocular Vision to Autonomous Action: Guiding Tumor Resection via 3D Reconstruction
Ayberk Acar, Mariana Smith, Lidia Al-Zogbi +14
Surgical automation requires precise guidance and understanding of the scene. Current methods in the literature rely on bulky depth cameras to create maps of the anatomy, however t…
Sensorless Remote Center of Motion Misalignment Estimation
Hao Yang, Lidia Al-Zogbi, Ahmet Yildiz +2
Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either h…
Robotic Ultrasound-Guided Femoral Artery Reconstruction of Anatomically-Representative Phantoms
Lidia Al-Zogbi, Deepak Raina, Vinciya Pandian +2
Femoral artery access is essential for numerous clinical procedures, including diagnostic angiography, therapeutic catheterization, and emergency interventions. Despite its critica…
Shape Manipulation of Bevel-Tip Needles for Prostate Biopsy Procedures: A Comparison of Two Resolved-Rate Controllers
Yanzhou Wang, Lidia Al-Zogbi, Jiawei Liu +6
Prostate cancer diagnosis continues to encounter challenges, often due to imprecise needle placement in standard biopsies. Several control strategies have been developed to compens…
Bevel-Tip Needle Deflection Modeling, Simulation, and Validation in Multi-Layer Tissues
Yanzhou Wang, Lidia Al-Zogbi, Guanyun Liu +4
Percutaneous needle insertions are commonly performed for diagnostic and therapeutic purposes as an effective alternative to more invasive surgical procedures. However, the outcome…
Positive Pressure Testing Booths Development and Deployment In Response To The COVID-19 Outbreak
Kevin Aroom, Jiawei Ge, Lidia Al-Zogbi +5
The COVID-19 pandemic left an unprecedented impact on the general public health, resulting in thousands of deaths in the US alone. Nationwide testing plans were initiated to contro…